EP 2766251 A1 20140820 - METHODE FOR CONTROLLING A ROBOT WITH AT LEAST TWO LEGS
Title (en)
METHODE FOR CONTROLLING A ROBOT WITH AT LEAST TWO LEGS
Title (de)
VERFAHREN ZUR STEUERUNG EINES ROBOTERS MIT MINDESTENS ZWEI BEINEN
Title (fr)
PROCÉDÉ DE CONTRÔLE D'UN ROBOT POSSÉDANT AU MOINS DEUX JAMBES
Publication
Application
Priority
- FR 1159152 A 20111011
- FR 2012052216 W 20121001
Abstract (en)
[origin: WO2013054019A1] The invention relates to a method for controlling the movement, on the ground, of a device (100) having at least two legs (120), including: a step of obtaining (300, 400, 800) current values (sigma) of variables pertaining to the kinematic state of the device; a step of optimising (320, 420, 820), under constraints (1500, 1900), a movement command (v) for the device, while taking into account said current values and a set value of the movement of the device, said optimisation being carried out by modelling a movement of the device between a current state (t1) and a second state (t2), the device resting, during said movement, on at least a first leg and then, from an instant of changing the centre of pressure on the ground (tp), on at least a second leg; and a step of applying (330, 430, 830) said movement command, characterised in that said optimisation is carried out under the hypothesis that the gravitational potential energy of the device in the second state (t2) is at a time-based local maximum.
IPC 8 full level
B62D 57/032 (2006.01); G05B 19/19 (2006.01)
CPC (source: EP US)
B62D 57/032 (2013.01 - EP US); G05B 19/19 (2013.01 - US); Y10S 901/01 (2013.01 - EP US)
Citation (search report)
See references of WO 2013054019A1
Designated contracting state (EPC)
AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR
DOCDB simple family (publication)
FR 2981173 A1 20130412; FR 2981173 B1 20131129; EP 2766251 A1 20140820; EP 2766251 B1 20161228; JP 2014528368 A 20141027; JP 6054404 B2 20161227; US 2014257559 A1 20140911; US 9317027 B2 20160419; WO 2013054019 A1 20130418
DOCDB simple family (application)
FR 1159152 A 20111011; EP 12775799 A 20121001; FR 2012052216 W 20121001; JP 2014535136 A 20121001; US 201214350671 A 20121001